Robotic platform and method for performing multiple functions in agricultural systems

ABSTRACT

An autonomous vehicle platform and system for selectively performing an in-season management task in an agricultural field while self-navigating between rows of planted crops, the autonomous vehicle platform having a vehicle base with a width so dimensioned as to be insertable through the space between two rows of planted crops, the vehicle base having an in-season task management structure configured to perform various tasks, including selectively applying fertilizer, mapping growth zones and seeding cover crop within an agricultural field.

RELATED APPLICATIONS

The present application claims the benefit of U.S. ProvisionalApplication No. 61/906,643 filed Nov. 20, 2013, which is incorporatedherein in its entirety by reference.

TECHNICAL FIELD

The present invention relates generally robotic platforms for use inagriculture. More particularly, the present invention relates to anautonomous vehicle platform configured to perform various in-seasonmanagement tasks between the planted rows of an agricultural field.

BACKGROUND OF THE INVENTION

After a growing plant exhausts the nutrient resources stored in itsseed, it begins to draw in nutrients from the surrounding soil using itsroot system. Rapidly growing plants have a high need for nutrients. If aplant cannot access the necessary nutrients then its growth becomeslimited. Such nutrient limitation can impact the overall growth of theplant, and the economic return to the farmer. Farmers use a range ofstrategies for increasing the availability of nutrients for a growingcrop, most notably the addition of chemical fertilizers, for examplenitrogen and phosphorus. However, such chemical fertilizers can be lostfrom the field before providing any beneficial effect.

For example, nitrogen, which is commonly introduced to a field in theform of anhydrous ammonia or urea, can be lost through gas emission tothe atmosphere or through run off as water drains from the field. Inparticular, ammonium, which is a positively charged ion, generally bindsto soil particles and is resistant to loss via runoff. However, inalkaline conditions, ammonium transforms into its gaseous form, ammonia,which can be readily lost to the atmosphere. Ammonium can also betransformed into nitrate—and subsequently lost from the field—via amicrobial process known as nitrification. Nitrate, on the other hand isa negatively charged ion and dissolves readily in water and can be lostas water runs off fields into drainage ditches or streams, or as waterseeps downward into groundwater.

Nitrogen fertilizer containing urea is also susceptible to loss whenapplied to the soil surface. Specifically, when the urea is hydrolyzed,or broken down, it releases ammonia gas, which can be readily lost tothe atmosphere. However, if the urea is hydrolyzed beneath the surfacewithin the soil profile, there is a reduced chance that the ammonia gaswill be lost.

Nitrogen from the various forms of fertilizer can also be lost through aprocess known as denitrification, whereby nitrate is converted togaseous forms of nitrogen, including dinitrogen and nitrous oxide. And,nitrogen can also be lost through microbial-mediated processes thatcreate other gaseous forms of nitrogen. Warmer soil temperatures causemicrobial processes to occur more rapidly, meaning that nitrogenfertilizer remaining in or on warmer soils is increasingly susceptibleto this type of loss.

Phosphorus, most commonly introduced to a field in the form ofphosphate, generally has a lower loss rate than nitrogen, as phosphatesreadily bind to soil particles. Nevertheless, phosphorus can be lostfrom fields through soil erosion or, less commonly, via runoff if thesoil can no longer bind additional phosphate because all of theavailable binding sites are filled.

Fertilizer costs, which are closely tied with the cost of fossil fuels,are significant in the production of commodity crops. Fertilizer that islost from a field represents inefficiency in agricultural productionsystems, as well as a potential loss in profit realized by the farmer.The substantial cost of fertilizer in the production of commodity cropsincentivizes farmers to adjust the application of fertilizer to closelymatch the needs of what they anticipate their crop will ultimatelyrequire throughout the growing season. Yet, because fertilizer iscritical in boosting production, farmers are prone to over applicationout of anxiety that there will be insufficient nutrients available whenthey are required.

Particularly in the case of nitrogen fertilizer, the longer anexternally-applied fertilizer remains on an agricultural field, the moreopportunities there are for the fertilizer to be lost. Thus, ideallyfertilizer is applied as needed throughout the growing season. However,tractor-drawn equipment generally cannot be used throughout the entireseason. For example, corn plants, require nitrogen at least untilreaching the point when tassels appear, which may be at a height of sixfeet or more. Conventional tractor-drawn implements are incapable ofapplying fertilizer when corn is so tall. This has led to the use ofself-propelled sprayer systems, often referred to as “high boy” or“high-clearance” systems, capable of straddling tall crops. Airplanescommonly referred to as “crop dusters,” have been used to applyfertilizer throughout the growth season. But, unlike conventionaltractor-drawn implements, high boy systems and crop dusters typicallyindiscriminately apply the fertilizer to the surface of the field.

Additionally, many farmers forego in season application, in favor ofspring or fall applications, because of their anxiety about being ableto get the equipment necessary to apply the fertilizer on the fieldwithin the appropriate time window for weather reasons. Farmers alsocontend with a range of tradeoffs when considering the timing offertilizer applications, for example, the cost of fertilizer is oftenreduced in the fall as the demand for fertilizer diminishes. As aresult, preseason applications of fertilizer—either in the late fallfollowing harvest or around the time of planting in the spring—arecommon. Nevertheless, both fall and spring applied fertilizer has thepotential of being lost from the field due to the various processesoutlined above.

Inefficient use of fertilizer often also occurs when fertilizer isuniformly applied across an entire field. Many agricultural fields areheterogeneous, with one location potentially varying year-to-year in itsnutrient status and differing from locations in other parts of thefield. As a result, many farmers assess soil nutrient status withperiodic samples analyzed in a laboratory. These soil tests are used toestimate nutrient needs prior to the growing season, in-season, or priorto an in-season application of fertilizer. Because of the effortrequired to take these samples, they are generally infrequent andrepresentative of a rather large area on a given field. Thus, inaddition to applying fertilizer in-season when nutrients are needed, anideal application would also take into account the specific soilconditions locally within the field.

Besides optimizing the application of fertilizer by applying itin-season as nutrients are required, and tailoring the amount to suitthe localized nutrient deficiencies of the soil within a field, theplanting of cover crops can help reduce nutrient loss. Cover crops aregenerally grown on a field between the times when a commodity crop isgrown. As cover crops grow, they take up and store nutrients,essentially preventing them from being lost from the field in runoff orin other ways. Some cover crops can absorb nitrogen from the atmosphere,and can augment the amount of soil nitrogen in a field, thereby reducingthe need for future applications of fertilizer. Additionally, the rootsof cover crops can reduce soil compaction and reduce soil erosion.Because some time is needed for germination, the ideal time to seed acover crop on a corn field is after maturity when the corn plants aretall and their leaves are beginning to senesce or turn brown. Seeding atthis time allows sufficient light for cover crop growth to penetrate theleaf canopy, enabling substantial growth of the cover crop to occurbefore the onset of winter.

More recently, there has been an interest in the use of small roboticvehicles on farms. The notion of a tractor that could navigateautonomously first appeared in patent literature in the 1980s. Forexample, U.S. Pat. No. 4,482,960, entitled “Robotic Tractors,” disclosesa microcomputer based method and apparatus for automatically guidingtractors and other full sized farm machinery for the purpose ofplanting, tending and harvesting crops. One study in 2006 concluded thatthe relatively high cost of navigation systems and the relatively smallpayloads possible with small autonomous vehicles would make it extremelydifficult to be cost effective as compared to more conventionalagricultural methods. Accordingly, many of the autonomous vehicles thathave been developed are as large as conventional tractors.

Despite the difficulty in maintaining cost effectiveness, a limitednumber of smaller agricultural robots have been developed. For example,the Maruyama Mfg. Co has developed a small autonomous vehicle capable ofnavigating between rows of crops. This vehicle, however, is limited tooperating within a greenhouse, and is not suited for the uneven terraintypical of an agricultural field. Another example is U.S. Pat. No.4,612,996, entitled “Robotic Agricultural System with Tractor Supportedon Tracks,” which discloses a robotic tractor that travels on railsforming a grid over a crop field. However, use of this system requiresthe installation of an elaborate and potentially expensive track systemwithin the agricultural field. Moreover, neither system is designed toremove physical samples from the crops, plant a second crop or a “covercrop” while the first crop is growing, or use a system of sensors toalert an operator when the robot experiences a problem that it cannotsolve on its own.

Accordingly, what is needed in the industry is a device which canautonomously navigate between the planted rows on the uneven terrain ofan agricultural field to accomplish in-season management tasks, such asselectively taking physical samples of crops, and seeding cover cropswhen commodity crops grow to a height where use of conventiontractor-drawn equipment or high clearance machines is no longer feasibleor desired by the farmer because of potential risk of crop damage.Moreover, what is needed by the industry is a device which can alert anoperator or team of operators if it encounters a problem, such as anobstacle, and cannot resolve the problem without intervention.

SUMMARY OF THE INVENTION

Embodiments of the present disclosure meet the need of the industry fora device which can autonomously navigate between planted rows on theuneven terrain of an agricultural field while simultaneously accomplishin-season management tasks, such as selectively taking physical samplesof crops, and seeding cover crops, as well as alerting an operator if itencounters a problem, such as an obstacle, that it cannot resolvewithout intervention.

One embodiment of the present disclosure provides an autonomous vehicleplatform for selectively performing an in-season management task in anagricultural field while self-navigating between rows of planted crops.The autonomous vehicle platform includes a vehicle base. The vehiclebase has a length, width and height, wherein the width is so dimensionedas to be insertable through the space between two rows of planted crops.The base is coupled to at least a plurality of ground engaging wheels.At least one power train is fixedly coupled to the vehicle base andoperably coupled to at least one of the ground engaging wheels. Thevehicle further includes a seeding structure, a navigation module, and amicroprocessor. The seeding structure includes a ground engagingimplement and mixer. The ground engaging implement is configured tocollect soil from the surface of the agricultural field. The mixer isconfigured to mix seeds with the collected soil to create seed balls.The seeding structure is further configured to distribute the seed ballsin the agricultural field. The microprocessor is in communication withthe navigation module and is programmed with a self-direction program toautonomously steer the autonomous vehicle platform while distributingthe seed balls.

One embodiment of the present disclosure provides an autonomous vehicleplatform for selectively performing an in-season management task in anagricultural field while self-navigating between rows of planted crops.The autonomous vehicle platform includes a vehicle base. The vehiclebase has a length, width and height, wherein the width is so dimensionedas to be insertable through the space between two rows of planted crops.The base is coupled to a plurality of ground engaging wheels. At leastone power train is fixedly coupled to the vehicle base and operablycoupled to at least one of the ground engaging wheels. The vehiclefurther includes a plant sampling structure, a navigation module, and amicroprocessor. The plant sampling structure is configured to remove aphysical sample of a planted crop for analysis. The mixer is configuredto mix seeds with the collected soil to create seed balls. The seedingstructure is further configured to distribute the seed balls in theagricultural field. The microprocessor is in communication with thenavigation module and is programmed with a self-direction program toautonomously steer the autonomous vehicle platform while removing thephysical sample from the planted crop.

One embodiment of the present disclosure provides an autonomous vehicleplatform system for selectively performing an in-season management taskin an agricultural field while self-navigating between rows of plantedcrops. The autonomous vehicle platform system includes one or moreautonomous vehicle platforms having a vehicle base. The vehicle base hasa length, width and height, wherein the width is so dimensioned as to beinsertable through the space between two rows of planted crops. Thevehicle further includes a navigation module, in-season management taskmodule, and a microprocessor. The navigation module is in communicationwith one or more obstacle detection sensors and is configured to scanfor navigation obstacles. The in-season management task module isconfigured to control the performance of one or more task. Themicroprocessor is in communication with the in-season management taskmodule and the navigation module. The microprocessor is programmed witha self-direction program to autonomously steer the autonomous vehicleplatform while performing an in-season management task. Themicroprocessor is also configured to alert an operator when anavigational obstacle is encountered.

The summary above is not intended to describe each illustratedembodiment or every implementation of the present disclosure. Thefigures and the detailed description that follow more particularlyexemplify these embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention can be more completely understood in consideration of thefollowing detailed description of various embodiments of the invention,in connection with the accompanying drawings, in which:

FIG. 1 is a side view of an autonomous vehicle platform in accordancewith an example embodiment of the disclosure.

FIG. 2 is a rear view of the autonomous vehicle platform of FIG. 1.

FIG. 3 is a perspective view of the autonomous vehicle platform of FIG.1.

FIG. 4 is a rear view of the autonomous vehicle platform of FIG. 1.

FIG. 5 is a front view of the autonomous vehicle platform of FIG. 1.

FIG. 6 is a right side view of the autonomous vehicle platform of FIG.1.

FIG. 7 is a left side view of the autonomous vehicle platform of FIG. 1.

FIG. 8 is a perspective view of the autonomous vehicle platform of FIG.1.

FIG. 9 is a top view of the autonomous vehicle platform of FIG. 1.

FIG. 10 is a top view of a tank of an autonomous vehicle platform inaccordance with an example embodiment of the disclosure.

FIG. 10A is a cross sectional view of the tank FIG. 10.

FIG. 11 is a right side view of the tank FIG. 10.

FIG. 12 is a right side view of an autonomous vehicle platform with anarticulate frame in accordance with an example embodiment of thedisclosure.

FIG. 12A is a close up view of the coupling of FIG. 12.

FIG. 13 is a top view of the autonomous vehicle platform of FIG. 12showing the maximum pivot angle between the first and second portions.

FIG. 14 is a schematic view depicting the communication between anautonomous vehicle platform, a server, a portable computer, and anotherautonomous vehicle platform in accordance with an example embodiment ofthe disclosure.

FIG. 15 is a perspective view of an autonomous vehicle platform with atelescoping mast in accordance with an example embodiment of thedisclosure.

FIGS. 16A-B are perspective views of an autonomous vehicle platformequipped with an aerial vehicle in accordance with an example embodimentof the disclosure.

FIG. 17 is a top view of an autonomous vehicle platform system having afertilization structure in accordance with an example embodiment of theinvention.

FIG. 18 is a side view of an autonomous vehicle platform system having afertilization structure in accordance with an example embodiment of theinvention.

FIG. 19 is a top view of an autonomous vehicle platform applyingfertilizer substantially between two rows of planted crops in accordancewith an example embodiment of the invention.

FIG. 20 is a top view of an autonomous vehicle platform applyingfertilizer proximate to the base of planted crops in accordance with anexample embodiment of the invention.

FIG. 21 is a side view of an autonomous vehicle platform system having afield mapping structure and soil sampling structure in accordance withan example embodiment of the invention.

FIGS. 22-23 are perspective views of an autonomous vehicle platformsystem having a biomass sampling device attached in accordance with anexample embodiment of the invention.

FIG. 24 is a side view of an autonomous vehicle platform system having aseeding structure in accordance with an example embodiment of theinvention.

FIG. 25 is a perspective view of an autonomous vehicle platform systemwith a harrow in accordance with an example embodiment of the invention.

FIG. 26 is a perspective view of an autonomous vehicle platform systemwith a grain drill in accordance with an example embodiment of theinvention.

FIGS. 27A-27B are a schematic views of the mixing of seeds with othercomponents in accordance with an example embodiment of the invention.

FIG. 28 is a rear view of an adjustable nozzle for spraying a liquidcontaining seeds in accordance with an example embodiment of theinvention.

FIG. 29 is a perspective view of a ground engaging implement forcollection of soil or biomass in accordance with an example embodimentof the invention.

FIG. 30 is a schematic view of mixer for mixing seeds with soil orbiomass in accordance with an example embodiment of the invention.

FIG. 31 is a perspective view of an autonomous vehicle platform systemhaving seed cannons in accordance with an example embodiment of theinvention.

FIG. 32 is a top view of an autonomous vehicle platform planting seedsproximate to the base of planted crops in accordance with an exampleembodiment of the invention.

FIG. 33 is a top view of an autonomous vehicle platform system having aseeding structure in accordance with an example embodiment of theinvention.

While the invention is amenable to various modifications and alternativeforms, specifics thereof have been shown by way of example in thedrawings and will be described in detail. It should be understood,however, that the intention is not to limit the invention to theparticular embodiments described. On the contrary, the intention is tocover all modifications, equivalents, and alternatives falling withinthe spirit and scope of the invention as defined by the appended claims.

DETAILED DESCRIPTION OF THE DRAWINGS

Referring to FIGS. 1-2, an autonomous vehicle platform 100 operates inan agricultural field 102, and often between rows 104 of planted crops106. Examples of planted crops 106 include corn, soybeans, peanuts,potatoes, sorghum, sugar beets, sunflowers, tobacco, cotton, as well asother fruits and vegetables. Like conventional agricultural equipment(either tractor-drawn or self-propelled), autonomous vehicle platform100 is configured to perform various management tasks. However, unlikeconventional agricultural equipment, autonomous vehicle platform 100 iscapable of autonomous navigation between rows 104 of planted crops 106,and for taller crops potentially below the canopy formed by the leavesor canopy of the planted crops 106, thereby permitting the performancemanagement tasks when the height of the planted crops 106 precludesaccess by conventional agricultural equipment, or in other situationswhere conventional agricultural equipment cannot easily be operated.

Autonomous vehicle platform 100 has a vehicle base 108 with a length L,width W and height H. The width W of the vehicle base 108 is sodimensioned as to be insertable through the space between two rows 104of planted crops 106. In one embodiment, width W of vehicle base 108 canbe dimensioned to be less than about thirty (30) inches wide and can beused in conjunction with rows 104 of planted crops 106 thirty six (36)inches wide (i.e., crops 106 planted on 36 inch centers). In anotherembodiment, width W of vehicle base 108 can be dimensioned to abouttwenty (20) inches wide and can be used in conjunction with rows ofplanted crops 106 thirty (30) inches wide. In one embodiment, the heightH of the vehicle base 108 is so dimensioned as to preclude interferencewith the canopy of the planted crops 106, thereby permitting travelbetween rows 104 of tall planted crops 108, without being limited by theheight of the planted crops 104, or causing damage to planted crops 104.

Referring to FIGS. 3-9, in one embodiment, autonomous vehicle platform100 has a plurality of ground contacting wheels 110, tracks, or somecombination thereof to move across agricultural field 102. Groundcontacting wheels can be operably coupled to vehicle base 108.Autonomous vehicle platform 100 can operate effectively across a rangeof surface conditions created by different cultivation methods (e.g.,no-till, low-till, strip-till, and conventional tillage), and ondifferent soil 103 types with different crops 106 planted the previousyear (i.e., over a range of plant residue conditions). In addition, theautonomous vehicle platform 100 can operate on soils 103 that would betoo wet for conventional equipment. Given the combination of relativelyuneven surfaces and potentially soft ground conditions, in someembodiment, the size of ground contacting wheels 110 is maximized. Inone embodiment, autonomous vehicle platform 100 has two or more wheels110. For example, ground contacting wheel 110 could be a drum whosewidth spans the width W of the vehicle base 106. In such an embodiment,autonomous vehicle platform 100 can have as few as two ground contactingwheels 110. In other embodiments, autonomous vehicle platform 100 caninclude three or four ground contacting wheels 110. A greater number ofwheels can also be employed. In one embodiment autonomous vehicleplatform 100 can have one or more track, possibly in combination withone or more ground contacting wheels 110.

The autonomous vehicle platform 100 has at least one powertrain 112fixedly coupled to vehicle base 108 and operably coupled to at least oneground contacting wheel 110. In one embodiment, an internal combustionengine 114, fueled by diesel or gasoline, can be the main power sourcefor powertrain 112. In another embodiment a battery can be the mainpower source for powertrain 112. In yet another embodiment, aconventional engine 114 can be paired with a battery to create a hybridpower system; in this configuration, for example, the battery can poweran electrical powertrain 112 and the engine can charge the batteries. Inone embodiment, the main power source for powertrain 112 can operatecontinuously for more than 20 hours per day.

Referring to FIGS. 10-11, in one embodiment, autonomous vehicle platform100 can include tank 116. In one embodiment, tank 116 can supply thefuel to engine 114. Tank 116 can be employed to carry other substancesinstead of fuel, for example tank 116 can be configured to carryfertilizer, agricultural chemicals, seeds, water, or a combinationthereof for use in performing in-season management tasks. In oneembodiment, tank 116 can contain a series of distinct subsections,wherein each subsection is devoted to storage of a given substance. Forexample, a single tank can contain a first subsection for fuel storage,and a second subsection for storage of liquid fertilizer.

Given the limitations in size of autonomous vehicle platform 100,particularly in the maximum width W and height H that will allow theautonomous vehicle platform 100 to perform the various in-seasonmanagement tasks between planted rows 104, tank 116 is restricted insize. Additionally, given the range of surface conditions thatautonomous vehicle platform 100 must traverse in operation, it is alsoimportant to maintain balance and a low center of gravity. Reduction inthe overall weight of autonomous vehicle platform is also aconsideration. In one embodiment, tank 116 can be slung even with, orbelow the center of the wheels 110, thereby lowering the center ofgravity of the tank 116 and increasing stability of autonomous vehicleplatform 100. In one embodiment, the frame 118 of vehicle base 108 isintegrated into tank 116. In this embodiment, tank 116 serves as both areservoir for a payload, as well as the structural support forautonomous vehicle platform 100. In this embodiment, the combination oftank and frame contributes to a lower center of gravity.

In one embodiment, tank 116 can comprise in internal space 170 enclosedwithin a series of rigid walls 172, wherein at least a portion of therigid walls 172 are configured provide structural support beyond thatnecessary to define internal space 170. Rigid walls 172 can beconstructed of a heavy gauge metal or other rigid material configured towithstand the external forces experienced by autonomous vehicle platformin operation without significant deformation, thereby precluding therequirement for additional frame support. Tank 116 can include one ormore inlet 174, outlet 176 or valve 178 capable of creating a fluidconnection between the interior 170 and exterior of tank 116. In oneembodiment, rigid walls 172 include one or more engine mounts 180 andone or more ground contacting wheels mounts 182.

In one embodiment, one or more baffle 120 can be added to limit sloshingof the contents within tank 116. For example, in one embodiment, baffle120 can run from length-wise along vehicle base 108 separating a rightand left portion of tank 116. In one embodiment, automated valves orpumps can be used to permit passage of the contents of tank 116 from onetank compartment to another. For example, where a baffle 120 exist toseparate a right and left portion of tank 116, if it is known thatautonomous vehicle platform 100 will soon encounter a side slope, thecontents of tank 116 can be transferred from one side to the other toimprove stability.

Referring to FIGS. 12-13, in one embodiment, vehicle base 108 can bearticulated. In particular, aside from the size, balance and weightrestrictions noted above, autonomous vehicle platform 100 is alsorequired to execute tight turns to prevent excessive damage to plantedcrops 106 when moving from one planted row 104 to the next. Moreover,autonomous vehicle platform 100 is expected to make these turns in atimely manner, without a significant delay. Accordingly, in oneembodiment, vehicle base 108 includes a plurality of portions orsections pivotably coupled to one another. In this manner, pivoting oneportion relative to another portion allows autonomous vehicle platform100 to decrease its radius of turn. Further, actively pivoting oneportion relative to another portion allows autonomous vehicle platform100 to steer itself By articulating frame 118 for steering, it ispossible to avoid the requirement for wheels with independent steeringthat pivot relative to frame 118 and project beyond the autonomousvehicle platform width W when turning or steering between rows.Accordingly, in one embodiment, the articulating frame 118 enables tightturns at the end of the row or steering between rows with adjustments tosteering angle that can be made without the wheels sticking out fromframe 118 thereby allowing maximization of width W of autonomous vehicleplatform for a given row spacing, as well as a lower the center ofgravity for a given payload.

In one embodiment, vehicle base 108 is comprised of a first portion 108Aand a second portion 108B, wherein first portion 108A is pivotablycoupled to second portion 108B via coupling 109. In one embodiment,coupling 109 can be an active pivotal coupling that utilizes hydraulicfluid to forceably pivot first portion 108A relative to second portion108B. For example, in one embodiment, coupling 109 can be ahydraulically-powered joint. In another embodiment, coupling 109 can bean electric steering motor. Where the vehicle base 108 includes aplurality of portions, each portion can comprise a separate tank 116. Insome embodiments, the frame 118 of vehicle base 108 is integrated intothe plurality of tanks 116A and 116B.

In one embodiment, coupling 109 permits first portion 108A to pivotrelative to second portion 108B substantially along a single plane ofmotion, thereby permitting autonomous vehicle platform a tighter radiusof turn. First portion 108A can be pivoted relative to second portion108B to a maximum angle of θ in either direction. In one embodiment, θcan be substantially equal 60 degrees. In another embodiment, coupling109 permits first portion 108A to pivot relative to second portion 108Bsubstantially along two planes of motion, thereby allowing both atighter radius of turn and increased flexibility when traversing a moundor other uneven terrain. In another embodiment, coupling 109 permitstwisting of first portion 108A to pivot relative to second portion 108B,thereby increasing the stability and ground contact when traversinguneven terrain.

Although FIGS. 12-13 depict a autonomous vehicle platform base 108 withtwo portions 108A, 108B pivotably connected by an articulated coupling109, autonomous vehicle platform base 108 can in some embodimentsinclude additional portions. For example, in one embodiment, autonomousvehicle platform base 108 can include a third portion, thereby extendingthe payload by at least one-third, while not impacting the turningradius as the third portion would follow in the tracks of the first twoportions. In other embodiment, autonomous vehicle platform base 108 caninclude more than three portions.

Referring to FIG. 14, in one embodiment, the autonomous vehicle platform100 includes microprocessor 122 in communication with various modules,wherein each module is constructed, programmed, configured, or otherwiseadapted, to carry out a function or set of functions. The term module asused herein means a real-world device, component, or arrangement ofcomponents implemented using hardware, or as a combination of hardwareand software, such as by a microprocessor and a set of programinstructions that adapt the module to implement the particularfunctionality, which while being executed transform the microprocessorsystem into a special-purpose device. A module can also be implementedas a combination of the two, with certain functions facilitated byhardware alone, and other functions facilitated by a combination ofhardware and software. In certain implementations, at least a portion,and in some cases, all, of a module can be executed in microprocessor122. Accordingly, each module can be realized in a variety of suitableconfigurations, and should generally not be limited to any particularimplementation exemplified herein, unless such limitations are expresslycalled out. In addition, a module can itself be composed of more thanone submodule, each of which can be regarded as a module in its ownright. Moreover, in the embodiments described herein, each of thevarious modules corresponds to a defined functionality; however, itshould be understood that in other contemplated embodiments, eachdescribed functionality may be distributed to more than one module.Likewise, in other contemplated embodiments, multiple definedfunctionalities can be implemented by a single module that performsthose multiple functions, possibly alongside other functions, ordistributed differently among a set of modules than specificallyillustrated in the examples herein.

In one embodiment, autonomous vehicle platform 100 has a navigationmodule 124. Navigation module 124 can be configured to receive fieldorientation information and detect obstacles using a variety of inputs,including existing data about a particular agricultural field 102, aswell as navigational data acquired in real time, such as data acquiredvia onboard cameras, radio communication with a base station, and globalpositioning system GPS units. A mast 126 (as shown in FIGS. 3 and 6) canfunction as an antenna and can be in communication with the navigationmodule 124 to allow for an extended range and improved reception beneaththe canopy of the planted crops 106.

Microprocessor 122 can be programmed with a self-direction program andcan be in communication with navigation module 124 and other implementsor modules, to autonomously navigate the autonomous vehicle platform,and to avoid other autonomous vehicle platforms 100, while selectivelyperforming various in-season management tasks based in part on receivedfield orientation information and detected obstacles. With increasedlevels of automation, including full autonomy, the need for robustobstacle detection is desirable. For example, an agricultural field 102can contain various rocks, debris, and other objects that might obstructthe movement of autonomous vehicle platform 100. Small animals,including pets, as well as humans young and old, can also be encounteredby the autonomous vehicle platform 100. The autonomous vehicle platform100 can have onboard capabilities to detect, avoid, navigate around, oras appropriate navigate over a range of obstacles like these.Additionally, when more than one autonomous vehicle platform 100 isautonomously navigating in an agricultural field, the autonomous vehicleplatform 100 can communicate with other autonomous vehicle platforms 100in order to coordinate activities and avoid collisions viacommunications module 123.

Referring to FIG. 15, in one embodiment, the onboard capabilities todetect, avoid, navigate around, or as appropriate navigate over a rangeof obstacles can include a sensor 172, such as one or more cameras,infrared sensors, ultrasonic sensors, or a combination thereof. In oneembodiment, sensor 172 is mounted to the top of a telescoping tower ormast 126. Telescoping tower or mast 126 can be deployed periodically, oronly as needed. In another embodiment, mast 126 can be deployed in apartially or fully extended state during longer periods of operation.

Referring to FIGS. 16A-B, to further aid in resolving a navigationalissue and detecting of obstacles, particularly humans_and other livingcreatures that can rapidly move into the danger zone, autonomous vehicleplatform 100 or system 200 can be in communication with one or moreaerial vehicles 170. Aerial vehicle 170 can be, for example, anautonomous drone capable of extending the field of view for autonomousvehicle platforms 100 or system 200. In one embodiment, aerial vehicle170 can include one or more cameras or sensors configured to at leastcapture an image of the agricultural field 102 where an autonomousvehicle platform 100 is operating. Processing of the imagery captured byautonomous vehicle platform 100 can be performed on the aerial vehicle170, on one or more autonomous vehicle platforms 100, at a base station,or a combination thereof.

In some embodiments, aerial vehicle 170 is deployed continuously. Inother embodiments, aerial vehicle 170 is deployed periodically or on anas needed basis. Aerial vehicle 170 can be in communication with system200 and autonomous vehicle platform 100 to receive location information.Aerial vehicle 170 can be fully independent of autonomous vehicleplatforms 100 or it can be assigned to a particular platform 100. In oneembodiment, autonomous vehicle platform 100 includes a docking platform174 for aerial vehicle 170. Docking platform 174 can include aconnection for recharging the power source of aerial vehicle 170. Inanother embodiment, aerial vehicle 170 can be connected via a tether 173to autonomous vehicle platform 100. In this embodiment, autonomousvehicle platform 100 remains in position while aerial vehicle 170 isdeployed. In other embodiments, autonomous vehicle platform 100continues to execute its assigned task while aerial vehicle 170 isdeployed. In one embodiment, the same operator or team of operators thatcontrols the autonomous vehicle platforms 100 or system 200 can alsocontrol the aerial vehicle 170.

Referring again to FIG. 14, autonomous vehicle platform 100 can have auser interface module 128 in communication with microprocessor 122,configured to transmit microprocessor data to a user or operator ofautonomous vehicle platform 100, and further configured to receivecommand data from the user of autonomous vehicle platform 100 forselectively overriding the self-direction program. In some embodiments,user interface module 128 transmits and receives data from server 180.In another embodiment, user interface module 128 transmits and receivesdata directly from a portable computer 181, such as a laptop, smartphoneor tablet. In one embodiment, an operator can receive video, images andother sensor data remotely via wireless communications, and send controlsignals to selectively override autonomous vehicle platform 100automation. In one embodiment, the operator can selectively interact inreal time via an application on portable computer 181, whichcommunicates directly, or indirectly via server 180, with the autonomousvehicle platform 100 from an onsite location, or a remote location, suchas the service contractor or farm headquarter.

In one embodiment, autonomous vehicle platform 100 periodically reportsits status or condition. For example, autonomous vehicle platform 100can communicate a status update to an operator or team of remoteoperators every 30 seconds. In most instances these status updates arerelatively simple, for example, an update can show that autonomousvehicle platform 100 is operating normally or indicate what percentageof a task has been completed. However, in the case where autonomousvehicle platform 100 encounters a situation that cannot be resolvedautonomously, a message or alert can be routed to an operator forassistance. These situations include, among other things, that an alertthat the autonomous vehicle platform 100 has encountered and obstacle,that autonomous vehicle platform 100 is experiencing an unplanned foridle time, that a malfunction is impacting the proper functioning ofautonomous vehicle platform 100, or that a notification that theautonomous vehicle platform's 100 payload or fuel supply is running low.Such a message can include, for example, information that autonomousvehicle platform 100 or system 200 has been stopped for a particularreason, one or more images of a situation that autonomous vehicleplatform 100 has encountered, a variety of statistics, such as heading,tractions, engine status, tank status, tilt angle, a video or series ofimages of the last several seconds of operation before the message wasrouted, or a combination thereof. Using this information, in oneembodiment, the operator or team of operators can remotely resolve thesituation. For example, the operator can select one of severalpreprogrammed commands or options, such as hold position, break throughplanted crops 106 and proceed to next row, or back up and start again onadjacent row. In addition, the operator can take remote control ofautonomous vehicle platform 100 and drive it for specified period oftime to get it out of the situation.

Where more than one autonomous vehicle platform 100 encounters asituation and multiple messages are sent at or near the same time, themessages can be prioritized by server 180 or portable computer 181, sothat the situations deemed most critical can be addressed in anappropriate order. In addition to processing and displayingnavigational, status, and situation alert information, server 180 orportable computer 181 can also store such data for each autonomousvehicle platform 100 to be utilized for the creation of a map or chartto illustrate the frequency and location of problems encountered. A mapcreated from such data, or other information, such as proximity to afarm house, can be used to rank multiple autonomous vehicle platforms100 in terms of the potential risk of encountering obstacles and canalso be used in the prioritization of multiple situation messagesreceived at or near the same time.

Referring to FIG. 17, in one embodiment, one or more autonomous vehicleplatform 100 can be used together in an autonomous vehicle platformsystem 200. In one embodiment, autonomous vehicle platform system canfurther comprise a refilling station 130. Refilling station 130 caninclude a refilling tank 131 and a refilling applicator 129. In oneembodiment, the refilling station 130 can have one or more retractablehoses that can be pulled several rows 104 into agricultural field 102thereby relocating the refilling applicator some distance from the tank.In one embodiment a refilling station 130 can have a plurality ofretractable hoses, creating several refilling locations from a singlerefill tank 116.

Autonomous vehicle platform 100 can be programmed to periodically returnto refilling station 130. In one embodiment, autonomous vehicle platform100 can be programmed to compare the status of autonomous vehicleplatform criteria to a programmed threshold, and to return to arefilling station 130 for servicing when the status of autonomousvehicle platform criteria conforms to the programmed threshold. Forexample, autonomous vehicle platform 100 can be programmed with a lowthreshold of fuel or fertilizer; when autonomous vehicle platform 100senses that the actual amount of fuel or fertilizer is at or below theprogrammed low threshold, autonomous vehicle platform 100 canautonomously navigate itself to refilling station 130. In oneembodiment, a plurality of autonomous vehicle platforms 100 communicatewith each other to avoid conflicts while returning to refilling station130 to recharge their supply of agricultural chemicals, seeds, fuel,water, or other supplies.

In one embodiment, the placement of refilling station 130 can be guidedby a logistics software program. The logistics software can be loaded onmicroprocessor 122, server 180, portable computer 181, or a combinationthereof. The logistics software program can account for the anticipatedquantities of supplies to be used. These anticipated quantities can becomputed using a variety of inputs, including the field layout,topography, soil condition, and anticipated weather conditions, andother conditions that may increase or decrease the amount of fuel,fertilizer, agricultural chemicals, seed, water, or combination thereofto be used. In one embodiment, the goal of the logistics software is tominimize the time a given autonomous vehicle platform 100 is travelingto and from the refilling station 130 to refill tank 116. In oneembodiment, the logistics software is tied to operation of the one ormore autonomous vehicle platforms 100 in the execution of an in-seasonmanagement task. For example, in one embodiment, logistics software canprovide updates to an operator or team of operators of where to positionrefilling stations 130 relative to agricultural field 102, where each ofthe autonomous vehicle platforms 100 should be initially positionedrelative to agricultural field 102, and when and where the autonomousvehicle platforms 100 should be moved upon completion of their assignedtask.

Among other logistics solutions required for optimal operation,autonomous vehicle platform 100 can carry a pre-calculated payloadneeded to complete an in-season management task from the perspective ofthe refilling station 130. This pre-calculated amount of fuel andfertilizer goes hand-in-hand with appropriately sizing tank 116.Pre-calculating the amounts of fuel, fertilizer, agricultural chemicals,seed, water, or combination thereof mitigates the possibility ofautonomous vehicle platform 100 having to transit more than once overthe same path between rows 104.

Referring to FIGS. 18-33, in one embodiment autonomous vehicle platform100 can include an in-season management task structure 132. In oneembodiment, the in-season management task structure 132 is one of afertilization structure, a protective chemical application structure, afield mapping structure, a soil sampling structure, a seeding structure,and a combination thereof. The term “in-season management taskstructure” is not intended to limit the variety of management taskapplications only to the in-season timeframe; rather the term isemployed to indicate that the variety of management task applicationscan also be used at other times. For example, the autonomous vehicleplatform 100 can be employed to automate some functions, such asfertilizing, application of protective chemicals, mapping, soilsampling, seeding, and a combination thereof, outside of the in-seasontimeframe, as well as during the in-season timeframe.

With special reference to FIG. 18, in one embodiment, autonomous vehicleplatform 100 can include a fertilization structure 134. In oneembodiment, fertilization structure 134 can comprise a fertilizer tank136, a fertilization applicator 138 and a fertilization module 140. Inone embodiment, tank 116 can comprise fertilizer tank 136. Fertilizationstructure 134 can be in communication with microprocessor 122, viafertilization module 140. Fertilization applicator 138 can be configuredto selectively apply fertilizer to the soil 103 of an agricultural field102 or base of planted crops 106. Fertilization applicator 138 can bepositioned in front, underneath, or behind the wheels 110 (or tracks),or on the wheels 110 of autonomous vehicle platform 100.

The autonomous vehicle platform 100 can utilize a liquid fertilizerknown as UAN (urea-ammonium-nitrate), other liquid, dry, or granularfertilizers. In one embodiment, the fertilizer tank 136 can hold lessthan 20 gallons of UAN. In another embodiment, the fertilizer tank 136can hold less than 40 gallons of UAN. In another embodiment, thefertilizer tank 136 can hold less than 50 gallons of UAN. In embodimentsthat include an articulated base with a plurality of portions, thefertilizer tank can hold more than 50 gallons of UAN. The fertilizationtank 136 can be pressurized by compressed air, which can be suppliedfrom a central compressor to aid in the delivery of fertilizer.Alternatively, the fertilizer can be pumped from the fertilization tank136 into the fertilization applicator 138. Automated valves and pumpscan further be used to inject the fertilizer solution into the soil 103.

With special reference to FIG. 19, in some embodiments, fertilizer canbe applied substantially between two rows 104 of planted crops 106; inthis manner the autonomous vehicle platform 100 effectively treatsone-half of each row of planted crop 106. With special reference to FIG.20, in other embodiment, fertilizer can be applied in a combination oflocations, including one or more locations besides substantially betweentwo rows 104 of planted crops 106, including application of fertilizerproximate to the base of planted crops 106. In this manner autonomousvehicle platform 100 effectively treats two rows of planted crop 106 oneach pass, thereby doubling its coverage in comparison to fertilizationsubstantially between two rows 104 of planted crops 106.

Referring again to FIG. 18, depending on a range of variables, includingsoil type, soil moisture, and plant residue, various approaches can beused for applying fertilizer. In one embodiment, autonomous vehicleplatform 100 can include a spray nozzle 142 to spray fertilizer on soil103. In one embodiment, autonomous vehicle platform 100 can include acircular disc, or coulter 144, that cut slots into the soil 103. Thefertilizer can be sprayed into this slot directly behind coulter 144. Inone embodiment, a protective metal knife can be used directly behind thecoulter 144, with a tube passing down behind the knife to introduce thefertilizer solution into soil 103. In some embodiments, weights can beadded to the autonomous vehicle platform 100 to ensure sufficientdownward pressure to operate the coulter 144.

In another embodiment, autonomous vehicle platform 100 can apply dryfertilizer pellets in a precise manner directly proximate to the base ofa planted crop 106 or substantially between rows of planted crops 108,for example, by broadcasting the pellets, or by injecting the pelletsseveral inches into the soil in a manner that does not damage the crop'sroot system. In one embodiment, a rolling, spiked drum is used for thispurpose. In another embodiment, autonomous vehicle platform 100 “shoots”pellets into the ground using a high-pressure air system much like whatis found in air rifles that fires a BB or a pellet. Fertilizer can beapplied on either side of autonomous vehicle platform 100 between rows(as depicted in FIG. 19) or across several rows (as depicted in FIG.20).

When a UAN solution is sprayed proximate to the base of planted crops106, a stabilizer can be added to prevent hydrolysis of the urea toammonia gas lost to the atmosphere through volatilization. However, rainor application of irrigation water following fertilizer application caneliminate the need to treat the UAN with a stabilizer. A focused sprayto specifically avoid application to crop residue can eliminate theamount of fertilizer inadvertently immobilized. In one embodiment, thefocused spray can be under high pressure to at least partially injectthe fertilizer beneath the surface of soil 103. In such embodiments, theliquid fertilizer can be applied between rows (as depicted in FIG. 19)or across several rows (as depicted in FIG. 20).

In addition to application of fertilizer as a spray proximate to thebase of planted crops 104, the autonomous vehicle platform 100 canfollow the fertilizer application with a spray of water, as “simulatedrain.” In other embodiments, the fertilizer can be mixed with water oranother additive before it is applied to the soil. Thus, the autonomousvehicle platform 100 can have two tanks, one for fertilizer and one forwater. The simulated rain application helps to wash the UAN fertilizerinto the soil, thereby reducing hydrolysis on the soil 103 surface.

In yet another embodiment, the fertilizer can be mixed with soil orother matter to form a fertilizer ball that can be distributed,injected, or shot into soil 103. The description of mixing cover cropseeds with soil or other matter equally applies to the creation of seedballs described infra.

In one embodiment, autonomous vehicle platform 100 can monitorfertilization. For example, monitoring of the flow of nutrients into thesoil 103 can be provided to a user during fertilizing operations. In oneembodiment, autonomous vehicle platform 100 can detect and rectify asituation where soil 103 becomes stuck to the fertilization applicator138, spray nozzle 142, coulter 144, or other parts of the fertilizationstructure 134. In one embodiment, autonomous vehicle platform 100 can beequipped to monitor the depth at which fertilizer is injected.

Use of the autonomous vehicle platform 100 can also be guided byexternal inputs, such as weather data. For example, a decision onwhether to fertilize at a given point in time can be influenced byinputs like weather data that ultimately predict the effectiveness ofapplying fertilizer within a given time window. For example, fertilizingoperations early in the season can be delayed if a predicted rain stormis likely to wash a substantial portion of the added fertilizer off thefield. Alternatively at other times, fertilizing applications might betimed in advance of a rain storm if that predicted moisture would helpmove the fertilizer down through the soil profile to the crops' roots.

In some embodiments, autonomous vehicle platform can include aprotective chemical application structure, configured to apply one of aherbicide, a pesticide, a fungicide, or a combination thereof to plantedcrops 104 or other vegetation including unwanted weeds. In someembodiments, autonomous vehicle platform 100 can detect which plantedcrops 104 needs a particular protective chemical or combination thereofand apply that protective chemical or combination thereof using asprayer on a mast or a robotic arm. Such an approach can have thepotential of reducing the volume of protective chemicals applied.

With special reference to FIG. 21, in one embodiment, autonomous vehicleplatform 100 can include a field mapping structure 146, configured tomap planted crop 108 conditions as well as other parameters. In oneembodiment, the goal of the field mapping structure 146 is to guide theapplication of fertilizer. For example, in areas where planted crop 106conditions indicate that more or less nutrients are required, theautonomous vehicle platform 100 can adjust fertilizer output as needed.

In one embodiment, fertilization structure 146 can comprise a fieldmapping module 148 and one or more sensor 150 configured to monitor theconditions of a planted crop 106. For example, sensor 150 can useoptical or other measurements to determine the abundance of plantpigments, such as chlorophyll, or other key parameters. In oneembodiment, sensor 150 can observe conditions from below planted crops108. In other embodiment, sensor 150 can be mounted on a robotic arm 152to observe planted crops 106 conditions above autonomous vehicleplatform 100. In one embodiment, mapping module 148 and sensor 150 canbe in communication with microprocessor 122.

In one embodiment, autonomous vehicle platform 100 can include a soilsampling structure 154, configured to measure soil conditions, as wellas other parameters. In one embodiment, the goal of the soil samplingstructure 154 is to guide the application of fertilizer. For example, inareas where soil 103 conditions indicate that more or less nutrients arerequired, the autonomous vehicle platform 100 can adjust fertilizeroutput as needed. In one embodiment, soil sampling structure 103 cancomprise a soil sampling module 156 and one or more soil probe 158configured to monitor the conditions of the soil 103. In one embodiment,soil sampling module 156 and soil probe 158 can be in communication withmicroprocessor 122. In one embodiment, autonomous vehicle platform 100can insert soil probe 158 into the soil 103, while observing plantedcrops 106 conditions via sensor 150.

With special reference to FIGS. 22-23, in some embodiments, autonomousvehicle platform 100 can include a device, such as a leaf clip 184 orleaf punch 186, for physical sampling of the planted crops 106. Whileautonomous vehicle platform 100 is traveling through planted rows 104,or while it is stopped, robotic arm 152 can manipulate device 184, 186into position for collection of a biomass sample. Furthermore, samplingcan be conducted at various heights of the planted crops 106—as somecrops tend to show different characteristics on leaves towards the topof the plant (e.g., corn first shows nitrogen deficiency in its lowerleaves because the plant moves nitrogen upward toward the leave that areexposed to more sunlight). Thereafter, the physical sample can beanalyzed at the autonomous vehicle platform 100 or cataloged or taggedfor later analysis.

Physical samples analyzed in agricultural field 102 can be subjected toa measurement of light absorption, information gained from this processis useful in estimating a plant's chlorophyll, which can be used topredict a plant's nitrogen sufficiency. Where the autonomous vehicleplatform 100 is applying fertilizer and it is found that localizedplanted crops 106 are lagging behind the planted crops in other parts ofthe field, the dispensed amount of fertilizer can be increased to boostlocal nitrogen levels. In other embodiments, information from the NDVItest is recorded for later use.

In one embodiment, autonomous vehicle platform 100 can be programmedwith an algorithm to improve efficiency in real-time plant monitoring.For example, if autonomous vehicle platform 100 is programmed to stopperiodically to take measurements, the algorithm can analyze thesemeasurements to determine how much they vary from one another. Whereadjacent measurements do not vary substantially, the algorithm canenable autonomous vehicle platform 100 to increase the distance betweenmonitoring locations, thereby effectively speeding up the monitoringprocess.

In addition to data collected via sensor 150 and soil probe 158, datafrom crop planting operations can be used create a “base map” from whichthe autonomous vehicle platform 100 can navigate. Such a base map candetail the precise location of individual rows 104 of planted crop 106,or even the location of individual plants 106.

In some embodiments, the map can leverage existing farmer data. Forexample, it is well known that farmers are increasingly usingGPS-enabled systems during their planting operations, sometimes referredto as an “as-planted map.” In many cases, these maps show the layout ofthe rows on a field. Where an “as-planted map” is available, the fieldmapping module 148, the autonomous vehicle platform 100 or anothercomponent of the system 200, can access the “as-planted map” to provideinformation for orienting the autonomous vehicle platform 100 on theagricultural field 102.

Generated maps can also include obstacles. For example, in oneembodiment, field mapping module 148 can work in cooperation with theimaging capabilities of sensor 172 or aerial vehicle 170 for the purposeof producing an accurate real-time map. The base map can also describethe soil 103 types and field topography—including measurements madeusing LIDAR that describe drainage patterns on a field. A user canfurther interact with the map, via an interface, adding in expertknowledge. For example, the existence of different crop varieties ortypically-wet areas can be added by the user.

With special reference to FIG. 24, in one embodiment, autonomous vehicleplatform 100 can include a seeding structure 160. Seeding structure 160can be configured to seed a cover crop under tall planted crops 106. Inone embodiment, seeding structure 160 can comprise a seed reservoir 162,a seeding attachment 164, and a seeding module 166. Seed reservoir 162can be coupled to the vehicle base 108 and configured to contain areservoir of seeds. In one embodiment tank 116 can comprise seedreservoir 162. The seeds can be distributed to the ground via a seedingattachment 164. Seeding module 166 can be in communication withmicroprocessor 122. In one embodiment, seeding can be performed whilefertilizing, or in combination with other management tasks. In anotherembodiment, seeding can be performed independently of other in-seasonmanagement tasks. With special reference to FIG. 25, in one embodiment,the seeds can be further worked into the soil using a range of commontillage methods, such as use of a harrow 188 or rake to work the seedsthrough any crop residue on the surface of the field. Use of a harrow188 can be combined with, for example, a broadcast seeder, an airseeder, a seed cannon, a spinner seeder, or combination thereof.

With special reference to FIG. 26, for the purpose of providing goodsoil-seed contact, in some embodiments, autonomous vehicle platform 100can be equipped with a grain drill 190. In one embodiment, grain drill190 can include a seed hopper 192 for loading and carrying seeds, one ormore disks 198 for opening the soil, one or more seeding tubes 194 fordistributing seeds to the soil, and one or more closing wheels. Graindrill 188 functions by slicing one or more narrow grooves into soil 103,dropping seeds or seed balls into the groove, and then closing thegroove using, for example, a rubber closing wheel. Use of a grain drill188 enables penetration of crop residue on the surface of the soil, aswell as a high precision seeding operation that maximizes use of theseeds. In some embodiments, grain drill 188 is configured to movevertically up and down to control the depth of the seeding groove. Inone embodiment, grain drill 190 is attached to a third portion of thebase 108.

With special reference to FIGS. 27A-B and 28, in one embodiment theseeds can be mixed in a water solution or other liquid solution topromote good soil-seed contact. In this embodiment, water or liquidsolution containing the seeds can be directed at the soil 103 to spray astream or shoot a series of droplets containing seeds, thereby causingthe seed solution to penetrate the surface of the soil 103. In someembodiments, the seed solution can be sprayed or shot out of a nozzle210. The nozzle 210 can be rotated relative to autonomous vehicleplatform 100 to provide a more controlled or evenly distributed seedingarea.

In other embodiments, other constituents, for example soil, plantbiomass or a combination thereof can be added to the seed mixture tofurther promote good soil-seed contact. With special reference to FIG.29, in some embodiments, autonomous vehicle platform 100 can be equippedwith a ground engaging implement 212 to scrape a quantity of soil orfallen plant biomass from the field while executing the management taskto resupply the quantity of constitutes needed for the creation of seedmixture. In other embodiments, periodically all or part of one of theplanted crops 106 can be harvested, chopped up, ground or shredded, andused to resupply the quantity of constitutes.

In one embodiment, ground engaging implement 212 can include a drum 214for support and accumulating matter surrounded by a plurality of tubes216 or spades for collecting soil or biomass. In this embodiment, drum214 can be positioned firmly against the surface of the field with theassistance of one or more mechanical actuators, for example, a hydraulicactuator. As autonomous vehicle platform 100 moves and drum 214 rotatesacross the ground, the tubes 216 will contact the ground and fill withmatter. Thereafter, each time a respective tube 216 contacts the ground,the plug of matter inside the tube 216 will be pushed further in towardsthe center of drum 214. Matter collected in the center of drum 214 canbe transported to other parts of autonomous vehicle platform 100 byauger 218.

With special reference to FIG. 30, matter collected by ground engagingimplement 212 can be transported to mixer 220 for the creation of ablend of the components. In one embodiment, the blended mixture can beformed into clumps or balls. Mixer 220 can include mixing drum 222, seedinlet 224, matter inlet 226, liquid inlet 228, and mixture outlet 230.In this embodiment, seeds from seed inlet 224 and soil or plant biomassfrom matter inlet 226 are mixed together in rotating mixing drum 222while a liquid such as water, corn syrup, or other substance to enhancebinding is added via liquid inlet 228 to form a blend of the components.As mixing drum 222 rotates the blend breaks up into smaller chunks,which after spending some period of time within rotating mixing drum 222take the shape of a rounded mass or seed ball. The seed balls exit themixing drum 222 via mixture outlet 230, where they can be collected ortransported to a mechanism for planting. Thereafter, in one embodiment,the seeds embedded within the seed balls have sufficient moisture andnutrients to enable germination without the need to ensure the samelevel of soil-seed contact as required when planting seeds alone.

With special reference to FIGS. 31-33, in one embodiment, autonomousvehicle platform 100 can include an air seeder 232 or one or more seedcannons 240. Air seeder 232 can include a seed metering and blowermechanism 234, a seed tube 236, and a manifold 238. In this embodiment,seeds are distributed to seed metering mechanism 234 where they areblown through tube 236 at a metered rate to manifold 238. Manifold 238can include one or more orifices configured to project the seeds or seedballs in a pattern to cover between rows (as depicted in FIG. 19) oracross several rows (as depicted in FIG. 20). Seed cannons 240 workunder a similar concept, but have the added advantage of enabling theseeds or seed balls to be projected at a velocity sufficient topenetrate the surface of the soil to ensure good soil-seed contact. Asshown in FIG. 33, seed cannons 240 and the orifices of air seeder 232can be directional to enable seeding in a specific direction or range ofangles.

In operation, a user can deliver one or more autonomous vehicleplatforms 100 to an agricultural field 102, position a refilling station130 proximate the agricultural field 102, and orient the one or moreautonomous vehicle platforms 100 to the field 102 and the refillingstation 130. This can entail the user placing the one or more of theautonomous vehicle platforms 100 in manual mode and driving the one ormore of the autonomous vehicle platforms 100 into a docking position atrefilling station 130, however, this is just one example of how toregister the refilling station 130 location within each autonomousvehicle platform's 100 navigation module 124.

After delivery, the self-direction program of autonomous vehicleplatform 100 can be activated. Autonomous vehicle platform 100 cannavigate to a starting point and begin navigating between rows 104 ofplanted crops 106 while performing an in-season management task. In someembodiments, the autonomous vehicle platform 100 can be operated by aservice provider who contracts with farmers to conduct in-seasonmanagement tasks. In some circumstances, particular areas of theagricultural field 102 can be omitted if prior monitoring has revealedthat the crop will not benefit from added fertilizer in that area. Inother circumstances, particular areas of the agricultural field 102 canbe fertilized for the express purpose of monitoring the planted crop 104response over subsequent days, such monitoring for a response could beused to guide application of fertilizer to the rest of the field.

Moving one or more autonomous vehicle platforms 100 and refillingstations 130 from field-to-field can be guided by one or more pc- orweb-based software programs that a user can access via smartphone,tablet, interface on base station, or personal computer from an onsitelocation, or a remote location, such as the service contactor or farmheadquarters. Such a program can report the progress made by theautonomous vehicle platform 100 on a particular agricultural field 102,as well as overall statistics for a given time period. Accordingly, theuser can prioritize fields for treatment. Based, in part, on a user'sinput, the program can determine the most efficient schedule forrefilling tank 116 and where the refilling stations 130 should belocated. Via this program, the user is prompted at the appropriate timeto begin the process of refilling or moving a refilling station 130 suchthat the autonomous vehicle platforms 100 can operate as continuously aspossible. The logistics software can also schedule maintenance andtransport between agricultural fields 102 of the autonomous vehicleplatforms 100. The goal of the logistics software is to minimize thetime each given autonomous vehicle platform 100 is: transiting betweenfields, traveling to and from the refilling station 130, waiting inqueue to be refilled, or is otherwise not performing in-seasonmanagement tasks.

In one embodiment, one or more autonomous vehicle platforms 100 or thesystem 200 can be used to deliver services to farmers, includingapplication of fertilizer and specialized chemicals, such as pesticides.In such a configuration, operation of one or more autonomous vehicleplatforms 100 could be referred to as robots as a service (RaaS). Insome embodiments, a farmer or his agent may order a field prescription,or specific instruction to perform a particular treatment or set oftreatments. In some embodiments the field prescription can be simple,for example an application rate uniformly across and entire field. Inother embodiments the field prescription can be relatively detailed,including, for example a GIS map of the field that indicates a range ofrequired fertilizer to be applied specific to particular locations onthe GIS map. Service companies incorporate such prescriptions into theirworkflow for completing treatment of a particular field. In instanceswhere field mapping structure 134 provides useful real-time information,a prescription can be updated or modified during operation.

In operation, a team of operators, for example three eight-hour shiftsof two people each shift altogether comprising a team, travel fromagricultural field to agricultural field, while supervising system 200.In one embodiment, system 200 could comprise twenty autonomous vehicleplatforms 100 working to achieve a common task. In this embodiment, theteam drops off the autonomous vehicle platforms 100 and other componentsat the agricultural field 102, set up the system 200, and beginsexecution of the requested prescription, service or in-season managementtask. During execution, the team monitors progress and the condition ofthe individual system 200 components, including responding to requestsfor assistance by particular autonomous vehicle platforms 100 while theservice is being performed. The team can also setup one or moreautonomous vehicle platforms 100 or systems in one or more other fields.Upon completion of the task, the team recovers the system 200components.

Embodiments of the present disclosure are discussed in detail below. Indescribing embodiments, specific terminology is employed for the sake ofclarity. However, the present disclosure is not intended to be limitedto the specific terminology so selected. A person skilled in therelevant art will recognize that other equivalent parts can be employedand other methods developed without parting from the spirit and scope ofthe present disclosure.

What is claimed is:
 1. An autonomous vehicle platform for selectivelysampling planted crops in an agricultural field while self-navigatingbetween rows of planted crops, comprising: a vehicle base having alength, width and height, the width so dimensioned as to be insertablethrough the space between two rows of planted crops coupled to at leasta plurality of ground engaging wheels; at least one powertrain fixedlycoupled to the vehicle base and operably coupled to at least one of theground engaging wheels; a plant sampling structure configured to removea physical sample of a planted crop for analysis; a navigation module;and a microprocessor in communication the navigation module andprogrammed with a self-direction program to autonomously steer theautonomous vehicle platform while removing the physical sample from theplanted crop.
 2. An autonomous vehicle platform system for managing theactions of one or more autonomous vehicle platform while self-navigatingbetween rows of planted crops, comprising: one or more autonomousvehicle platform comprising: a base having a length, width and height,the width so dimensioned as to be insertable through the space betweentwo rows of planted crops; a navigation module in communication with oneor more obstacle detection sensors, the navigation module configured toscan for navigation obstacles; an in-season management task moduleconfigured to control the performance of one or more tasks; and amicroprocessor in communication with the in-season management taskmodule and the navigation module, programmed with a self-directionprogram to autonomously steer the autonomous vehicle platform whileperforming an in-season management task, the microprocessor configuredto alert an operator when a navigational obstacle is encountered.
 3. Theautonomous vehicle platform of claim 1, wherein the plant samplingstructure comprises a device for collection of the physical sample. 4.The autonomous vehicle platform of claim 3, wherein the device is atleast one of a leaf clip, a leaf punch, or a combination thereof.
 5. Theautonomous vehicle platform of claim 3, wherein the device is operablycoupled to a robotic arm.
 6. The autonomous vehicle platform of claim 1,wherein the removed physical sample is analyzed by the autonomousvehicle platform.
 7. The autonomous vehicle platform of claim 6, whereinthe removed physical sample is measured for light absorption.
 8. Theautonomous vehicle platform of claim 6, wherein the distance betweenphysical sampling can be increased when the differences between adjacentanalyzed physical samples vary less than a predefined threshold, therebyimproving the efficiency of the sampling of planted crops.
 9. Theautonomous vehicle platform of claim 1, wherein physical samples areremoved from more than a single location on the planted crop.
 10. Theautonomous vehicle platform of claim 1, wherein the removed physicalsample from the planted crop is tagged for later analysis.
 11. Theautonomous vehicle platform of claim 1, wherein the navigation modulerelies on existing data about an agricultural field to autonomouslysteer the autonomous vehicle platform to areas of the agricultural fieldfor physical sampling of planted crops.
 12. The autonomous vehicleplatform system of claim 2, wherein the navigation module is furtherconfigured to receive field orientation information from one or moresensor.
 13. The autonomous vehicle platform system of claim 12, whereinthe one or more sensors is at least one of one or more onboard cameras,one or more antennas for radio communication with a base station, one ormore global positioning systems, and a combination thereof.
 14. Theautonomous vehicle platform system of claim 2, wherein the navigationmodule further relies on existing data about an agricultural field. 15.The autonomous vehicle platform system of claim 2, wherein the obstacledetection sensor is one or more onboard cameras.
 16. The autonomousvehicle platform system of claim 2, wherein the obstacle detectionsensor is one or more aerial vehicles.
 17. The autonomous vehicleplatform system of claim 2, wherein each autonomous vehicle platformfurther comprises a communications module configured to communicate withother autonomous vehicle platforms to coordinate activities and avoidcollisions.
 18. The autonomous vehicle platform system of claim 2,wherein the one or more autonomous vehicle platform further comprises auser interface.
 19. The autonomous vehicle platform system of claim 18,wherein the user interface is configured to transmit data from the oneor more obstacle detection sensors to the operator of the one or moreautonomous vehicle platform.
 20. The autonomous vehicle platform systemof claim 19, wherein the user interface is further configured to receivecommand data from the operator for selectively overriding theself-direction program.
 21. The autonomous vehicle platform system ofclaim 18, wherein the user interface is configured to periodicallyreport one or more conditions of an autonomous vehicle platform.
 22. Theautonomous vehicle platform system of claim 21, wherein the one or morereported conditions include that the autonomous vehicle platform isoperating normally, the autonomous vehicle platform has completed apercentage of a schedule in-season management task, the autonomousvehicle platform has encountered of an obstacle, the autonomous vehicleplatform is experiencing an unplanned idle time, the autonomous vehicleplatform has experienced a malfunction, that the autonomous vehicleplatform's payload is running low, that the autonomous vehicleplatform's fuel is running low, and a combination thereof.
 23. Theautonomous vehicle platform system of claim 21, wherein the one or morereported conditions include one or more images captured from an onboardcamera.
 24. The autonomous vehicle platform system of claim 21, whereinwhen multiple conditions are reported, the reported conditions can beprioritized to enable the conditions to be addressed in an appropriateorder.
 25. The autonomous vehicle platform system of claim 2, whereinthe in-season management task is the application of fertilizer.
 26. Theautonomous vehicle platform system of claim 25, wherein the fertilizeris applied proximate to a base of the planted crops.
 27. The autonomousvehicle platform system of claim 25, wherein the fertilizer is appliedto at least one of a space between adjacent rows of planted annualcrops, a space beyond adjacent rows of planted annual crops including aspace between neighboring rows of planted annual crops, and acombination thereof.
 28. The autonomous vehicle platform system of claim25, wherein the fertilizer is in a liquid form.
 29. The autonomousvehicle platform system of claim 28, wherein the fertilizer is appliedby spraying fertilizer into a cut made in the soil by a coulter.
 30. Theautonomous vehicle platform system of claim 25, wherein the fertilizeris applied using a spiked wheel.
 31. The autonomous vehicle platformsystem of claim 25, wherein the fertilizer is in pellet form.
 32. Theautonomous vehicle platform system of claim 31, wherein the pellet isinjected into the soil.
 33. The autonomous vehicle platform system ofclaim 2, wherein the in-season management task is seeding cover crops.34. The autonomous vehicle platform system of claim 33, wherein thecover crops are seeded as a second crop prior to the harvest of thefirst crop.
 35. The autonomous vehicle platform system of claim 34,wherein the cover crops are at least one of plants suitable to inhibitthe loss of nitrogen, plants suitable to reduce soil compaction, plantssuitable to inhibit soil erosion, a cash crop, a forage crop, or acombination thereof.
 36. The autonomous vehicle platform system of claim33, wherein the seeds are broadcast by at least one of a broadcastseeder, an air seeder, a seed cannon, a spinner seeder, and acombination thereof.
 37. The autonomous vehicle platform system of claim33, wherein the seeds are worked into the soil by at least one of aharrow, a rake, a dragged chain, a grain drill, and a combinationthereof.
 38. The autonomous vehicle platform system of claim 33, whereinthe seeds are mixed in a water solution.
 39. The autonomous vehicleplatform system of claim 33, wherein droplets of the water solution areshot at the ground, thereby causing the seed solution to penetrate thesoil.
 40. The autonomous vehicle platform system of claim 2, wherein thein-season management task is at least one of applying fertilizer,seeding cover crops, sampling planted crops or a combination thereof.41. The autonomous vehicle platform system of claim 2, wherein thein-season management task is seeding cover crops.